Head-Mounted Sensor System

• US 20180181195A1
• Filed: 12/22/2016
• Published: 06/28/2018
• Est. Priority Date: 12/22/2016
• Status: Active Grant

• Current Assignee: REscan Inc.
• Original Assignee: REscan Inc.
• Inventors: Herman, Robert, Bognar, Botond
• Granted Patent: US 10,579,138 B2
• Time in Patent Office: Days
• CPC Class Codes: A42B 1/242 Means for mounting detecting, signalling or lighting devices
• CPC Class Codes: G01S 15/08 Systems for measuring distance only indirect measurement G01S15/46
• CPC Class Codes: G01S 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
• CPC Class Codes: G01S 15/89 for mapping or imaging
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G06F 1/163 Wearable computers, e.g. on a belt
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/012 Head tracking input arrangements
• CPC Class Codes: G06T 15/04 Texture mapping
• CPC Class Codes: G06T 17/20 Finite element generation, e.g. wire-frame surface description, tesselation
• CPC Class Codes: G06T 19/003 Navigation within 3D models or images

Abstract

Systems and method of mapping spaces include a head-mounted sensor array. The array includes sensors configured to both measure distances within spaces and capture images of the spaces. This data may be used to generate continuously navigable virtual simulations of the spaces. Mapping of the spaces may include movable objects such as doors, transparent objects such as windows, and transitions between floors.

Claims

1. A head-mounted sensor system comprising:

a helmet including a visor;

a first pair of LIDAR sensors mounted on the helmet, the first pair of LIDAR sensors being configured to detect distances between the first pair of LIDAR sensors and surfaces near the helmet;

a second pair of ultrasonic range finders mounted on the helmet, the second pair of ultrasonic range finders sensor pair of ultrasonic range finders being configured to detect distances between the second pair of ultrasonic range finders and the surfaces;

a 360 degree camera system mounted at the top of the helmet;

a directional indicator disposed beneath the visor;

a synchronization circuit configured to synchronize outputs of at least the first pair of LIDAR sensors and the second pair of ultrasonic range finders;

a movement sensor configured to detect movement of the helmet; and

an output configured to provide output of the first pair of LIDAR sensors, output of the second pair of ultrasonic range finders, output of the 360 degree camera system, and output of the movement sensor, in real-time to a data storage device.

3. The system of claim 1, wherein the helmet further comprises stereoscopic optics.

7. The system of claim 1, further comprising registration logic configured to generate a wireframe representation of the surfaces based on the output of at least the first sensor.

8. The system of claim 7, wherein the registration logic is configured to map textures of the surfaces to points on the wireframe.

10. The system of claim 1, further comprising change logic configured to detect changes in an environment, the changes including positions of surfaces.

11. The system of claim 1, further comprising change logic configured to detect changes in an environment, the changes including opening of a door.

12. The system of claim 1, further comprising mapping logic configured to generate a map of an environment based on outputs of at least the first pair of LIDAR sensors and second pair of ultrasonic range finders, the map including indications detected surfaces and indication of areas of the environment that have not been mapped.

22. The system of claim 1, wherein the 360 degree camera system is configured to generate angle dependent textures for registration to transparent surfaces.

23. The system of claim 1, further comprising difference logic configured to identify a surface as transparent by detecting the surface using the ultrasonic range finders but not detecting the surface using the LIDAR sensors.

2. (canceled)

4-6. -6. (canceled)

9. (canceled)

13. A head-mounted transparent surface detection system comprising:

a helmet;

a first sensor mounted on the helmet, the first sensor being configured to detect distances between the first sensor and surfaces around the helmet using a laser;

a second sensor mounted on the helmet, the second sensor being configured to detect distances between the second sensor and the surfaces using sound;

a synchronization circuit configured to synchronize outputs of the first sensor and the second sensor;

movement sensors configured to detect movement of the helmet;

difference logic configured to identify transparent surfaces detected using the sound but not detected using the laser; and

an output configured to provide output of the first sensor, output of the second sensor and output of the movement sensor, in real-time to a data storage device.

14. (canceled)

15. A head-mounted threshold detection system comprising:

a helmet;

a first sensor mounted on the helmet, the first sensor being configured to detect distances between the first sensor and surfaces around the helmet using a laser;

a second sensor mounted on the helmet, the second sensor being configured to detect distances between the second sensor and the surfaces;

a synchronization circuit configured to synchronize outputs of the first sensor and the second sensor;

movement sensors configured to detect movement of the helmet;

edge detection logic configured to identify edges that outline a threshold; and

an output configured to provide output of the first sensor, output of the second sensor and output of the movement sensor, in real-time to a data storage device.

16. The system of claim 15, further comprising movement detection logic configured to detect movement of a doorway within the threshold, using at least the output of the first sensor.

17. The system of claim 15, further comprising a directional indicator configured to direct a user of the helmet through the threshold.

18. The system of claim 15, further comprising mapping logic configured to determine if a space has been completely mapped with respect to a mapping range height.

19. The system of claim 15, further comprising mapping logic configured to identify movement between floors of a building by detecting transport of the movement sensor within an elevator.

20. The system of claim 15, further comprising viewing logic configured to view a render a virtual environment based on output of the first sensor and the second sensor, and to view the virtual environment from positions within the virtual environment other than those to which the second sensor has navigated.

21. The system of claim 15, further comprising viewing logic configured to view a render a virtual environment based on output of the first sensor and the second sensor, and automatically adjust a viewpoint height based on a height of the second sensor during mapping of an actual environment.